论文部分内容阅读
下肢外骨骼穿戴于人体外侧,是一个人机耦合的智能化机器人系统。针对目前国内外对控制策略归纳和综述存在不清楚等问题,基于等级的控制分类方法,将外骨骼控制按照等级差别,分为任务规划层、高层和低层等三种,厘清了分类依据的思路,归纳出高层控制包含的各种不同控制方式。从适用助力控制和康复辅助两方面角度出发,对这些控制方式的原理、控制率和控制效果进行了分析、讨论和研究。最后,对全文进行了总结。
Lower extremity exoskeleton worn on the outside of the human body, is a man-machine coupling intelligent robotic system. According to the current problems in the induction and review of control strategies both at home and abroad, the control method based on the level control divides the exoskeleton control into three levels: task planning level, high level and low level according to the level differences, clarifying the basis of classification , Summed up the various controls contained in the high-level control. From the perspective of applying power control and rehabilitation assistance, the principles, control rates and control effects of these control modes are analyzed, discussed and studied. Finally, the full text is summarized.